WO2014117192A1

WO2014117192A1 - Method and device for stacking and unstacking panel-shaped objects

Info

Publication number: WO2014117192A1
Application number: PCT/AT2014/000019
Authority: WO
Inventors: Alexander Kronsteiner; Adrian ENZENBRUNNER; Hannes ENDLICHER
Original assignee: Lisec Austria Gmbh
Priority date: 2013-01-30
Filing date: 2014-01-30
Publication date: 2014-08-07
Also published as: US20150151927A1; CN104507835B; CN104507835A; EP2814767A1; RU2015104880A; RU2611851C2; EP2814767B1; US9546050B2; ES2591227T3

Abstract

When handling panel-shaped objects, such as glass panes, a gripping device (4) is used in order to remove said objects from stacks (1, 2), in which the objects are inclined towards the vertical, or to position said objects onto stacks (1, 2), wherein the gripping device allows at least two stacks (1, 2) of objects to be formed on bearing blocks, said stacks (1, 2) differing from each other. The gripping device (4) has at least two grippers which are independent of each other. Suction heads (7) are provided as the grippers of the gripping device (4), said suction heads being pivotal independently of each other into and out of the suction head working position associated with the objects. In the process, gripping device (4) suction heads (7) pivoted out of their operating position are arranged above the stacks (1, 2).

Description

Method and device for stacking and destacking

plate-shaped objects

The invention relates to a method and a device with the features of the introductory parts of independent claims 1 and 4.

Devices for stacking and destacking are known, in which connection reference can be made to FR 2 525 196 A, WO 2012/037582 A or EP 0 675 060 Bl.

Plate-shaped objects, in particular glass panes, are stored in bearings (glass storage), for example in stacks on a

Lagerbock, kept ready.

On the pedestals are the plate-shaped objects

(Glass) to the vertical by a few degrees (for example, 5 °) inclined so that they lean securely on the bearing block.

For the unloading ("stacking") and the removal ("destacking") of plate-shaped objects equipped with suction heads bars ("suction bar") with a length of for example 6 m

intended. The suction cups are applied to the upper edge of a plate-shaped object (glass pane) in order to lift the respective foremost object from the stack and to supply it to further processing. For example, glass sheets which have been removed from a bearing block ("unstacked") are fed to a glass cutting table.

For the detection / removal / storage of plate-shaped objects and comb-like devices ("combs") are known on the tines several, usually three, suction cups are arranged so that the glass sheets can be detected area. The comb farm is chosen to allow various devices equipped with vacuum cups to convey, store and transport each other

Glass panes can pass, without having to be sucked from both sides - which is harmful for coatings, for example would .

Suction bars that are not divided into independent segments are known from FR 2 525 196 A.

It is problematic if different on the bracket

Types of glass, for example, stacks of glass with

different width or stack of the same or

different types of glass with different thickness (thickness) of the stack stand. Therefore, it has been imperative that at the same time glass panes are removed from each stack. This is the only way to prevent different ones

Stack thicknesses arise and then working with over the width of the bearing blocks continuously formed gripping devices, even if they are designed as suction bars, is no longer possible.

The invention has for its object to provide a method and an apparatus of the type mentioned, in which the problem described above does not occur.

This object is achieved according to the invention on the one hand with a method having the features of claim 1, and on the other hand with a device in which the features of the independent, directed to the device claim

are realized.

Preferred and advantageous embodiments of the invention are the subject of the dependent claims.

In a possible embodiment of the invention

Method may be provided that on a bearing block

at least two stacks are formed, the stacks

are different from each other.

In a possible embodiment of the invention

Method may be provided that stack of each other different plate-shaped objects are formed.

In a possible embodiment of the invention

Method may be provided that at least two stacks are formed with mutually different thickness by at least one plate-shaped object is set on at least one of the stack or at least one plate-shaped object is removed from at least one ^'of the stack.

The device according to the invention can be in one

Embodiment characterized in that as a gripper of the

Gripper suction cups, which is associated with a source of negative pressure, are provided.

The device according to the invention can be in one

Embodiment characterized in that the gripper of the

Gripping device are independent of each other in their and their objects associated with the central position adjustable.

The device according to the invention can be in one

Embodiment characterized in that the gripper of the

Gripping device by pivoting movements or linear movements, in particular lifting / lowering, in and out of their operative position

are adjustable.

The device according to the invention can be in one

Embodiment characterized in that the gripper of the

Gripping device are arranged on a common carrier.

The device according to the invention can be in one

Embodiment characterized in that the gripping device at least two groups, each with at least one gripper,

in particular at least two grippers each.

The device according to the invention can be in one

Characterized in that the groups are independently adjustable in and out of the position of engagement of the grippers, in particular, are pivotable.

The device according to the invention can be in one

Embodiment characterized in that the connection between adjusted in their standby position suction heads is interrupted with the source of negative pressure.

The device according to the invention can be in one

Embodiment characterized in that adjusted in their effective position suction cups is connected to the source of negative pressure.

The device according to the invention can be in one

Embodiment characterized in that the carrier a

Means for moving in space, for example, a device in the manner of a gantry crane, assigned.

The device according to the invention can be in one

Emphasize embodiment in that adjusted from their position of action grippers of the gripping device are arranged above stacks.

With the invention it is possible to design two or more than two different stacks, for example stacks of different types of articles, e.g. Set glass types on one (single) bearing block and remove and remove objects from only one of the stacks.

The invention also makes it possible plate-shaped

Stacking objects to different stacks.

This is possible because the device according to the invention a

Having gripping device with at least two mutually independently acting grippers.

For example, the gripping devices comprise grippers

Suction heads, which are connected to at least one vacuum source, so that they by negative pressure on a plate-shaped Object (glass) can be created to detect this and either from a stack leaning on a bearing block, remove or put on a bearing block.

In another embodiment, the gripping devices comprise gripper transport forks, which are summarized in at least two groups, each having at least two transport forks.

The transport forks preferably each have at least two, for example essentially L-shaped, carrying elements. The objects to be stacked / destacked stand on the one hand on the lower, shorter (substantially horizontal) legs of the support elements, so they are supported from below, and on the other hand lean against the longer (essentially

vertical) thighs of the supporting elements.

In one embodiment, the transport forks are mounted on horizontal supports, optionally pivotally mounted so that they protrude from the carriers down.

Suction heads may be arranged on the substantially vertical legs of the support elements to secure objects held by the grippers during transport.

Even with grippers in the form of transport forks next to each other at least two mutually independently operating groups of at least two support elements are provided. This allows objects to be stacked / stacked independently on / from two stacks arranged side by side without the thicker stack of the gripper being in the way. This in particular, if, as provided in a possible embodiment, the L-shaped support elements in his / her

Active position can be swung away.

This advantageous effect is also for the embodiment of the gripping device with the trained as a swing-in suction cups or grippers or in the embodiment with Support elements, which can be removed and replaced as needed, given.

In one possible embodiment of the invention it is provided that transport forks are provided as grippers for the gripping device.

In one possible embodiment of the invention, it is provided that each transport fork has at least two substantially L-shaped support elements.

In one possible embodiment of the invention, it is provided that suction heads are provided on the transport forks, in particular their substantially vertical legs.

In a possible embodiment of the invention it is provided that the carrying elements of the transport forks on carriers,

preferably of these downwardly projecting, are arranged.

In one possible embodiment of the invention, it is provided that the carriers of at least two transport forks are detachably fastened to a main carrier.

In one possible embodiment of the invention, it is provided that the transport forks can be pivoted out of their operative position and into their operative position.

In one possible embodiment of the invention, it is provided that the support elements of the transport forks are designed to be essentially perpendicular in their operative position.

In a possible embodiment of the invention it is provided that the substantially vertical legs of the support elements are formed variable in length.

In one possible embodiment of the invention, it is provided that grippers with suction heads with grippers with transport forks combined.

In one possible embodiment of the invention, it is provided that suction heads and transport forks can be pivoted independently of one another into and out of their operative position.

In the context of the invention is also considered to combine grippers in the form of transport forks with gripping devices having trained as suction cups gripper. This also makes it possible to transport heavy objects safely with grippers in the form of suction cups.

According to the invention, it is possible to activate in each case only the grippers of the gripping device, which are assigned to a stack of at least two stacks on a bearing block, wherein the remaining grippers of the gripping device remain ineffective.

If the grippers of the gripping device according to the invention are suction cups, it is possible to move only the suction head (or two or more than two suction cups) into its operative position,

for example, to pivot, which is needed, while unnecessary suction cups, which are arranged in the region of a stack from which no plate-shaped object (glass) can be seen, can remain in their ready position.

With the invention it is advantageously possible to store on a single bearing block two or more than two different types of glass or glass sheets in stacks of different width and / or thickness. This is when

Removal process only the at least one gripper of

Gripping device activated, for example, only moves the at least one suction head in its operative position, which is required for the removal of the respective desired glass type. This can

done without the remaining gripper (the remaining

Suction heads) of the gripping device with one or more adjacent stacks of other objects (types of glass) collide. For example, unused grippers remain

Gripping device, for example, not required suction heads, in their standby position above the stack. Only the respectively required grippers (suction cups) are moved into their effective position.

Moving the grippers out of their ready position into their original position and vice versa out of their position of being in theirs

Standby position can be done by pivoting the grippers or by moving linearly (moving up and down). Also

Combinations of pivoting with raising and lowering of the grippers are contemplated within the scope of the invention.

With the invention, the advantage is achieved that can find space on a single bearing block several, less wide stack identical or different types of glass and thus storage place can be saved even with a large variety of types of glass storage.

If the gripping device provided according to the invention has suction heads as a gripper, it is considered to combine the suction heads into at least two groups, each comprising at least two suction heads.

Further details and features of the invention will become apparent from the following description of exemplary embodiments with reference to the drawings. It shows:

Fig. 1 shows schematically a device according to the invention (without

Bearing block),

FIG. 2 shows the device of FIG. 1 (with bearing block) seen from the side, FIG.

Fig. 3 is a combined with a crane according to the invention

Device and

Fig. 4 shows an embodiment of a gripping device with gripper in the form of transport forks.

In the embodiment shown in Fig. 1, two stacks 1 and 2 (glass packages) of different thicknesses and / or different types of glass (for example glass of different widths) stand on a bearing block 3 (not shown in Fig. 1).

For removing glass panes from stacks 1 and 2

(Glass packages) is formed in the example designed as a suction bar gripping device 4, which on a support. 5

pivotally mounted several groups 6 of two each

Grippers, in the example in each case two acted upon by suction suction cups 7, has.

Although in the embodiment of the suction cups 7th

trained gripper of the gripping device 4 are pivotable, is also an embodiment of the device into consideration

pulled, in which the suction cups 7 designed as grippers can be moved by linear lifting and lowering in their ready position and from this in their operative position. Also one

Combination of linear movement and pivoting of the gripper is possible.

In Fig. 1 it is shown that four groups 6 each having two suction heads 7, are pivoted in their operative position (in the example, are pivoted downwards), so that the suction heads 7 after

Applying vacuum with the respective foremost glass pane of the stack 1 suck, so capture, and can remove from the stack 1 by the carrier 5 is moved by means of an arbitrarily designed drive.

1 also shows that the groups 6 assigned to the right-hand stack 2 in FIG. 1 remain pivoted by suction heads 7 into their ready position, so that they are arranged above the stack 2 and the movements of the gripping device 4 with their in their Wirklage swung groups 6 of suction cups 7 not

hamper, as can be seen in Fig. 2. In the invention, it is also provided that the suction heads 7 located in their standby position, ie those

Suction heads 7, which have not been pivoted in their active position, are separated from the source of negative pressure, so are not subjected to negative pressure.

Suction heads 7 (in Figure 1, the four left-hand groups 6 of suction heads 7) pivoted only into their operative position are, once they have been applied to glass panes of a stack 1 or 2, subjected to negative pressure by being connected to the source of negative pressure.

For moving the carrier 5 of the gripping device 4 to the suction heads 7 provided on it, which serve as grippers, above the respective foremost glass pane of a stack 1 or 2

(Glass package), the carrier 5 can be connected to a device for adjusting, for example with a gantry crane 10 (see Fig. 3)

In the apparatus shown in Fig. 3, which is designed as a gantry crane 10, a gripping device 4 according to the invention is provided. The gantry crane 10 has a horizontal bar 11 and is over a two legs 12 comprehensive chassis 13 via rollers 14 movable. Thus, the gripping device 4 can be approximated to a bearing block 3 on which stacks 1 and 2 are provided with glass panes when adjusting glass panes (stacking) on the pedestal 3 to form stacks 1 or 2 or from a stack 1 or stack 3 standing on the pedestal 3 2 to remove

(to be stacked).

On the beam 11 of the gantry crane 10 is after several

Degrees of freedom adjustable an inventive

Gripping device 4 is arranged. For example, the

Gripping device 4 via the suspension 15 vertically (perpendicular to

Beam 1.1), horizontally (parallel to the beam 11 and perpendicular to

Running direction of the gantry crane 10) linearly movable and rotatable about a vertical axis. FIG. 3 shows by way of example that suction cups 7 are combined to four groups 6 each comprising two suction heads 7 on support 5 of gripping device 4. The number of groups 6 of suction cups 7 is just as limited to four, as the number of suction cups 7 per group 6 is not limited to two.

As indicated in FIG. 3 by linear motors 16, the distance between suction heads 7 and the distance between groups 6 of suction heads 7 can be changed.

The pivoting of the suction cups 7 from their standby position into their operative position (in Fig. 1, left) and from their position of action in their

Standby position (in Fig. 1 right) can be with the aid of a in FIG.

3 lever 17 shown with drive 18 (linear motor).

In Fig. 3 is for the left in Fig. 3 part of the gripping device

4 that not necessarily all suction heads 7 or groups 6 of suction heads 7 are pivoted simultaneously. Rather, it is considered only the actual needed

Suction heads 7 or groups 6 of suction cups 7 to pivot in their operative position. It is thus considered only so many

Swing suction cups 7 or groups 6 of suction cups 7 in their active position, as the width of the glass to be handled

corresponds.

If it is provided in one embodiment of the invention that is always pivoted a predetermined number of suction cups 7 or groups of 6 suction cups 7 in their operative position, then it can be provided that not acting on a glass suction cups 7, so suction cups 7, the in your

Are not connected to the source of negative pressure, so are not subjected to negative pressure.

It is also contemplated in the invention that all in a region of the carrier 5, for example in a half, a third, a quarter or other part region of the carrier 5, arranged, serving as a gripper suction cups 7 of

gripping device 4 according to the invention, or groups 6 thereof, to pivot together in their and out of their operative position. However, it is also considered to use only individual suction heads 7 or groups 6 of suction heads 7, when smaller (narrower) glass panes are to be handled (stacked / destacked).

In the inventive method for stacking and unstacking plate-shaped objects, such as glass, is so

proceeded that at least two stacks are formed on a single bearing block, wherein the stacks from each other

are different. These are for example stacks

different objects (types of glass), so objects with different dimensions (width and / or length and / or thickness), or differently thick stacks that are independent

can be unstacked or stacked by

Remove items from the bearing block or set them on the bearing block.

With the method according to the invention it is possible to form stacks of mutually different plate-shaped objects, for example objects with different dimensions (width and / or length and / or thickness). For example, at least two stacks of mutually different thickness are formed by adjusting at least one plate-shaped object to at least one of the stacks, or at least one plate-shaped object is removed from at least one of the stacks.

The embodiment of a gripping device 4 shown in FIG. 4 has two transporting forks 20 instead of the gripper with suction head 7 31s gripper. The transport forks 20 comprise in the illustrated embodiment, four L-shaped support members 21, the horizontal beams 22, projecting from these downwards

are attached. The carriers 22 are detachable at one

Main carrier 23 is arranged. The example in the two groups of four support elements 21 having transport forks 20, after they from the

Main carrier 23 have been removed, be kept ready for new use in storage containers. While a Transportgabei 20 is removed, can be stacked / unstacked with the other, remaining on the main carrier 23 transport fork 20.

The support elements 21 each have a longer substantially vertical leg 24 and a shorter substantially horizontal leg 25. The horizontal legs 25 support from the gripping device 4 detected, to be transported objects from below. The objects lean against the vertical legs 24 of the support elements 21. To securely hold objects on the transport forks 20, the

Support members 21 may be equipped with suction cups 26 at their vertical legs 24.

The longer, substantially vertical leg 24 of the

Support elements 21 can be changed in length, z. B. telescopically be formed.

The transport forks 20 or at least their support members 21 are, as above for the embodiment with

Suction heads 7 has been described, from their in Fig. 4th

shown swivel position and swung back from their standby position in the Wirklage. If one of the

Transport forks 20 has been swung out of its operative position, objects can be taken from stacked stacks of plate-shaped objects (stacked) and placed in such stacks (stacked), even if the stacks are of different thickness. This procedure is also possible if a transport fork 20, comprising a group of support elements 21, has been adopted by the main carrier 23.

Incidentally, the embodiment of a gripping device 4 shown in FIG. 4 can be used as has been explained above for the embodiment shown in FIGS. In addition, there is the advantage of a larger one

Freedom of movement and possibly shortened ways, since the transport forks 20 can be removed from the main carrier 23 and the main carrier 23 via standing in a warehouse stack and / or bearing blocks u. like. can be moved.

In the context of the invention, an embodiment is considered in which a gripping device 4 of the embodiment shown in Figs. 1-3 with a gripping device 4 of

Embodiment of Fig. 4 is combined.

In such a combined gripping device can be provided that suction cups 7 and transport forks 20 are independently pivotable between the respective standby position and active position.

The process of the invention may advantageously be carried out by means of a device according to the invention.

In summary, an embodiment of the invention can be described as follows:

When handling plate-shaped objects, such as glass panes, to remove them from stacks 1, 2, in which the objects are inclined to the vertical, or to adjust them to stacks 1, 2, a gripping device 4 is used, which allows at least two on a bearing block Stack 1, 2 to form objects, the stacks 1, 2 are different from each other. The

Gripping device 4 has at least two independent grippers. As a gripper of the gripping device 4 suction heads 7 are provided, which are independent of each other in their and their objects associated with the central position swivel position. In this case, hidden suction heads 7 of the gripping device 4 are arranged above their stacks 1, 2 from their position of action.

Claims

Claims:

1. Method for stacking and unstacking plate-shaped

Objects, such as glass panes, characterized in that on a bearing block at least two stacks (1, 2) are formed, wherein the stacks (1, 2) are different from each other.

2. The method according to claim 1, characterized in that

Stack (1, 2) of different from each other

plate-shaped objects are formed.

3. The method according to claim 1 or 2, characterized in that at least two stacks (1, 2) with each other

different thickness can be formed by at least one plate-shaped object on at least one of the stack (1, 2) is set or at least one

plate-shaped object from at least one of the stack (1, 2) is removed.

4. Apparatus for handling plate-shaped objects, such as glass panes, for carrying out the method according to one of claims 1 to 3, to remove objects from stacks (1, 2), in which the objects are inclined in particular to the vertical, or stack (1 , 2), with a gripping device (4) for detecting the objects, characterized in that the gripping device (4) comprises at least two independent grippers.

5. Apparatus according to claim 4, characterized in that as gripper of the gripping device (4) suction heads (7), which is associated with a source of negative pressure, are provided.

6. Apparatus according to claim 4 or 5, characterized in 'that the grippers of the gripping device (4) are independent of one another, in their and from their objects associated with the active position adjustable.

7. Device according to one of claims 4 to 6, characterized in that the gripping device (4) at least two groups (6), each with at least one gripper,

in particular at least two grippers each.

8. Device according to one of claims 4 to 7, characterized

characterized in that the grippers of the gripping device (4) by pivoting movements or linear movements,

in particular lifting / lowering, in their and from their effective position are adjustable and that from their position of action displaced gripper of the gripping device (4) above stacks (1, 2) are arranged.

9. Device according to one of claims 4 to 8, characterized

in that transport forks (20) are provided as grippers for the gripping device (4).

10. The device according to claim 9, characterized in that each transport fork (20) has at least two substantially L-shaped support elements (21).

11. The device according to claim 9 or 10, characterized in that on the transport forks (21), in particular their substantially vertical legs (24) suction heads (26) are provided.

12. The device claim 10 or 11, characterized in that the support elements (21) of the transport forks (20)

Carriers (22), preferably projecting downwards from these, are arranged.

13. Device according to one of claims 9 to 12, characterized

in that the transport forks (20) are releasably attached to a main carrier (23).

14. Device according to one of claims 4 to 13, characterized in that grippers with suction heads (7) according to one of claims 4 to 8 are combined with grippers with transport forks (20) according to one of claims 9 to 13.

15. The apparatus according to claim 14, characterized in that suction cups (7) and transport forks (20) from each other

are independently pivotable in and out of their respective